EVAL6470H Datasheet, PDF (47/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

L6470
Programming manual
Table 16. Stall detection threshold
STALL_th [6..0]
0000000
0000001
…………………
1111110
1111111
Stall detection threshold
31.25 mA
62.5 mA
…
3.969 A
4A
9.1.19
STEP_MODE
The STEP_MODE register has the following structure:
Table 17. STEP_MODE register
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
SYNC_EN
SYNC_SEL
0 ⁽¹⁾
1. When the register is written, this bit should be set to 0.
Bit 2
Bit 1
STEP_SEL
Bit 0
The STEP_SEL parameter selects one of eight possible stepping modes:
Table 18.
0
0
0
0
1
1
1
1
Step mode selection
STEP_SEL[2..0]
0
0
0
1
1
0
1
1
0
0
0
1
1
0
1
1
Full-step
Half-step
1/4 microstep
1/8 microstep
1/16 microstep
1/32 microstep
1/64 microstep
1/128 microstep
Step mode
Every time the step mode is changed, the electrical position (i.e. the point of microstepping
sinewave that is generated) is reset to the first microstep.
Warning: Every time STEP_SEL is changed, the value in the ABS_POS
register loses meaning and should be reset.
Any attempt to write the register when the motor is running causes the command to be
ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).
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